TWI799308B - Medical waste disposal vehicle and classification method - Google Patents

Abstract

A medical waste disposal vehicle and a classification method are provided. The medical waste disposal vehicle includes a carrier, and a moving module and a screening module installed on the carrier. The position of the screening module corresponds to an input port of the carrier, and the screening module includes a first sorting plate, a second sorting plate, an oscillator, and a rotator. The first sorting plate and the sorting plate each have a plurality of different geometric grooves. The oscillator can sequentially drive the first sorting plate and the second sorting plate to reciprocate rapidly at a predetermined angle and send out a first signal and a second signal. When the rotator receives the first signal, the rotator can maintain the second sorting plate at the predetermined angle and drive the first sorting plate to pivot. When the rotator receives the second signal, the rotator can drive the sorting plate at the predetermined angle and drive the second sorting plate to pivot. According to this, the medical waste disposal vehicle can classify medical waste, and effectively reduce the volume and production cost.

Description

Medical waste disposal vehicle and its classification method

The invention relates to a waste treatment vehicle, in particular to a medical waste treatment vehicle and a classification method thereof.

The existing medical waste disposal vehicle has an automatic path-finding vehicle, a robot arm, and an image recognition device. The devices are classified into each space according to different parameters such as the pollution degree and type of medical waste, so as to realize the classification of medical waste and reduce the possibility of biological contamination of personnel.

However, the robot arm and image recognition device with the function of medical waste classification need to have extremely high computing power, high-end macro photography lens, and high-precision mechanical components and other components, but such components lead to the existing medical waste treatment Cars are expensive. In addition, the interior of the existing medical waste disposal vehicle also needs enough space for the robot arm to move and grab, which also leads to the bulky size of the existing medical waste disposal vehicle.

Therefore, the inventor believes that the above-mentioned defects can be improved, Naite devoted himself to research and combined with the application of scientific principles, and finally proposed an invention with reasonable design and effective improvement of the above-mentioned defects.

The technical problem to be solved by the present invention is to provide a A medical waste treatment vehicle and a classification method thereof.

The embodiment of the present invention discloses a medical waste treatment vehicle, which includes: a carrier with an inlet for putting in medical waste; a moving module installed on the carrier, and the moving module can drive the The carrier moves; and a screening module is arranged in the carrier, and the position of the screening module corresponds to the input port. The screening module includes: a first sorting tray with a plurality of first geometric slots; a The second sorting tray is arranged below the first sorting tray, the second sorting tray has a plurality of second geometric grooves, and the volume of the plurality of second geometric grooves is smaller than that of the plurality of first geometric grooves Volume; an oscillating unit connected to the first sorting disc and the second sorting disc, the oscillating unit can drive the first sorting disc and the second sorting disc to move back and forth rapidly at a predetermined angle; when When the first sorting disc and the second sorting disc complete reciprocating movement, the oscillating unit can send a first signal and a second signal; and a rotator electrically coupled to the oscillating unit, and Connecting the first sorting disc and the second sorting disc; when the rotator receives the first signal, the rotator can maintain the second sorting disc at the predetermined angle, and drive the The first sorting disc is pivoted; when the rotator receives the second signal, the rotator can drive the first sorting disc to return to the predetermined angle, and drive the second sorting disc to pivot.

The embodiment of the present invention also discloses a medical waste classification method, which is applied to the above-mentioned medical waste disposal vehicle. The classification method includes the following steps: when the medical waste passes through the input port, an activation signal is sent; After the oscillating unit receives the start signal, the oscillating unit waits for a first delay and then drives the first sorting disc to reciprocate horizontally; when the oscillating unit completes the reciprocating movement of the first sorting disc sending out the first signal; the rotator pivots the first sorting disc to the predetermined angle when receiving the first signal, and sends out a layer change signal; the vibration unit receives the layer change After receiving the signal, the oscillating unit waits for a second delay and then drives the second classification disc to reciprocate horizontally; The oscillating unit sends out the second signal when the reciprocating movement of the second sorting disc is completed; and the rotator pivots the second sorting disc to the predetermined angle when receiving the second signal.

To sum up, the medical waste disposal vehicle and its classification method disclosed in the embodiments of the present invention can have the following functions: The design of a plurality of the first geometric slots and a plurality of the second geometric slots" and "the rotator can respectively drive the first sorting disc and the second sorting disc to pivot" enables the medical waste treatment The vehicle can accurately screen medical waste (using multiple first geometric slots and multiple second geometric slots) while reducing structural complexity, thereby achieving the technical effect of reducing volume and manufacturing cost.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.

100:Medical waste disposal vehicle

1: carrier

A1: guide plate

A2: Sensor

2: Mobile Module

21: Control unit

22: Drive wheel set

23: Environmental scanning unit

3: Screening modules

31: The first sorting plate

G31: First geometry slot

G31A, G31B: geometry groove

32:Second classification plate

G32: Second geometry slot

G32A, G32B: geometry groove

33: Oscillating unit

331: track frame

332: Driver

34: Spinner

35: Bearing unit

4: load sensing module

41: shaker

42: Infrared transceiver

43: Weight sensor

5: Packaging Module

SP: storage space

IN: input port

D1: the first direction

D2: Second direction

S101~S113: steps

Fig. 1 is a schematic perspective view of a medical waste treatment vehicle according to a first embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of the medical waste treatment vehicle according to the first embodiment of the present invention.

FIG. 3 is a schematic circuit block diagram of the mobile module according to the first embodiment of the present invention.

Fig. 4 is a schematic perspective view of the first sorting tray according to the first embodiment of the present invention.

Fig. 5 is a schematic perspective view of a second sorting tray according to the first embodiment of the present invention.

FIG. 6 is a schematic circuit block diagram of the screening module and the sensor according to the first embodiment of the present invention.

FIG. 7 is a schematic diagram of the vibration unit driving the first sorting tray and the second sorting tray according to the first embodiment of the present invention.

Fig. 8 is a schematic diagram of the rotator driving the first sorting disc according to the first embodiment of the present invention.

Fig. 9 is a schematic diagram of the second sorting disc being driven by the rotator according to the first embodiment of the present invention.

FIG. 10 is a schematic circuit block diagram of the load sensing module electrically coupled to the packaging module according to the first embodiment of the present invention.

Fig. 11 is a schematic diagram of the packing module packing the carrying unit according to the first embodiment of the present invention.

Fig. 12 is a schematic flowchart of the steps of the classification method according to the second embodiment of the present invention.

The following is a description of the implementation of the "medical waste disposal vehicle and its classification method" disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one element from another element, or one signal from another signal. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

In addition, in the following description, if it is pointed out that please refer to the specific drawing or as shown in the specific drawing, it is only used to emphasize in the subsequent description, and most of the relevant content described above appears in the specific drawing , but does not limit the subsequent description to only those specific drawings that may be referred to.

[first embodiment]

Referring to Figures 1 to 11, the first embodiment provides a medical waste disposal vehicle 100, which can automatically cruise in a designated area of a medical institution or follow a designated medical staff ( For example: a surgeon) to further provide the function of discarding medical waste, and the medical waste treatment vehicle 100 also classifies medical waste at the same time (for example: classification of waste pollution).

As shown in Figures 1 and 2, the medical waste treatment vehicle 100 in this embodiment includes a carrier 1, a mobile module 2 installed on the carrier 1, and a mobile module set in the carrier 1. A screening module3. Next, the components of the medical waste treatment vehicle 100 and their connections are introduced below.

As shown in FIG. 1 and FIG. 2 , the carrier 1 is a hollow structure and has an accommodating space SP and an input port IN connected to the accommodating space SP. In a practical application, the carrier 1 also has a guide plate A1 and a sensor A2, the guide plate A1 extends from the inner edge of the inlet to one side of the carrier and is inclined (for example : the guide plate A1 is inclined from the inner edge of the input port IN toward the bottom right of FIG. 2 ), the sensor A2 is electrically coupled to the screening module 3 and arranged on the guide plate A1 and the sensor A2 sends out an activation signal when the medical waste passes through the guide plate A1. In practice, the sensor A2 can be a vibration sensor or an infrared sensor.

As shown in FIG. 2 and FIG. 3 , the moving module 2 is installed on the bottom of the carrier 1 in this embodiment and can drive the carrier 1 to move. Specifically, the mobile module 2 includes a control unit 21 , and a driving wheel set 22 (such as a motor and wheels) electrically coupled to the control unit 21 and an environment scanning unit 23 . The control unit 21 scans the surrounding environment through the environment scanning unit 23 (for example: infrared surround view scanner, image recognition device, etc.) to create an environment map and a real-time environment information, and the control unit 21 can according to the The environment map controls the movement of the drive wheel set 22 . In addition, when the control unit 21 analyzes the presence of the real-time environmental information When there is an obstacle, the control unit 21 controls the driving wheel set 22 to stop, turn or avoid.

In an application example, the control unit 21 can be pre-set by medical personnel using the environmental map as a blueprint to set a cruising route, or use the environmental scanning unit 23 to identify a specific person to follow. Among them, the cruising route or the technical content of following a specific person are prior art, and the aforementioned technical content is not the key point of the present invention, so it will not be specifically introduced here.

As shown in Figure 2, Figure 4 and Figure 5, the position of the screening module 3 corresponds to the input port IN, so that the medical waste can be received by the screening module 3 when it is thrown in through the input port IN. Pick. In this embodiment, the screening module 3 includes a first sorting tray 31, a second sorting tray 32 located below the first sorting tray 31, connected to the first sorting tray 31 and the second sorting tray 31 respectively. An oscillating unit 33 and a rotator 34 of the sorting disc 32 , and a bearing unit 35 located below the second sorting disc 32 .

Referring again to Fig. 2, Fig. 4 and Fig. 5, the first sorting tray 31 and the second sorting tray 32 respectively have a plurality of first geometric grooves G31 and a plurality of second geometric slots G31 in this embodiment. Slot G32. Wherein, the multiple first geometric grooves G31 may have different shapes and volumes from each other, and the multiple second geometric grooves G32 may also have different shapes and volumes from each other.

For example, the plurality of first geometric grooves G31 may include a geometric groove G31A corresponding to a shape of a small-sized needle (for example: a 34-gauge needle), and a geometric groove G31B corresponding to a shape of a large-sized needle (for example: a 7-gauge needle) . The plurality of second geometric grooves G32 may include geometric grooves G32A corresponding to the shape of the syringe and geometric grooves G32B corresponding to the shape of the ampoule.

In practice, the volumes of the plurality of first geometric grooves G31 are respectively smaller than the volumes of the plurality of second geometric grooves G32, which allows small-volume waste to be collected by the plurality of first sorting trays 31. The first geometric groove G31 is accommodated (that is, classified), and the bulky waste is accommodated (that is, classified) by the plurality of second geometric grooves G32 of the second sorting tray 32 . Conversely, if the volume of the plurality of first geometric grooves G31 is greater than the volume of the plurality of second geometric grooves G32 When accumulating, large volume and small volume of waste cannot be sorted by the plurality of first geometric grooves G31, thus affecting the effect of screening (or sorting) medical waste.

Preferably, in other unillustrated embodiments, in the first sorting tray 31, a plurality of the first geometric grooves G31 of different shapes and volumes are evenly distributed in a staggered manner; In the second sorting tray 32, a plurality of the second geometric grooves G32 with different shapes and volumes are evenly distributed in a staggered manner, so as to improve the screening efficiency.

As shown in FIG. 6 and FIG. 7 , the oscillating unit 33 can drive the first sorting disc 31 and the second sorting disc 32 to reciprocate rapidly at a predetermined angle. More specifically, the oscillating unit 33 includes a track frame 331 and a driving member 332, the track frame 331 provides that the first sorting tray 31 and the second sorting tray 32 are set, and provides the first sorting tray 31 and the second sorting tray 32 A horizontal movement path of the sorting tray 31 and the second sorting tray 32 enables the first sorting tray 31 and the second sorting tray 32 to be driven by the driving member 332 to reciprocate horizontally. That is to say, the predetermined angle is parallel to the horizontal plane in this embodiment.

In a practical application example, the oscillating unit 33 is electrically coupled to the sensor A2 located at the input port IN, and when the oscillating unit 33 receives the activation signal sent by the sensor A2 The oscillating unit 33 sequentially drives the first sorting tray 31 and the second sorting tray 32 to reciprocate rapidly at the predetermined angle to screen the medical waste. In addition, when the first sorting tray 31 and the second sorting tray 32 complete the reciprocating movement, the oscillation unit 33 can send out a first signal and a second signal.

Referring again to Figures 8 and 9, the rotator 34 is electrically coupled to the oscillating unit 33 and connected to the first sorting disc 31 and the second sorting disc 32, and the rotator 34 can The first sorting disc 31 and the second sorting disc 32 are respectively driven to pivot (or swing).

In practical applications, the rotator 34 may be an embedded rotating mechanism (that is, a part of the rotator is embedded in the rotating shaft so that its appearance is only a shaft shape). When the spinner 34 receives the When the first signal is issued, the rotator 34 can maintain the second sorting disc 32 at the predetermined angle (that is, in a horizontal state) and drive the first sorting disc 31 to pivot, so that the first sorting disc The medical waste on the 31 that is not accommodated in the plurality of first geometric grooves G31 falls onto the second sorting tray 32 . In other words, when the rotator 34 pivots the first sorting disc 31 upon receiving the first signal, the area where the first sorting disc 31 positively projects the bottom of the carrier 1 is preferably smaller than The second sorting tray 32 orthographically projects the bottom area of the carrier 1 .

In addition, when the rotator 34 receives the second signal, the rotator 34 can drive the first sorting disc 31 to reset to the predetermined angle (ie, horizontal state) and drive the second sorting disc The disc 32 is pivoted so that the first sorting disc 31 can accept the medical waste entering through the input port, and the objects on the second sorting disc 32 are not accommodated in the plurality of second geometric grooves G32 The medical waste inside falls onto the carrying unit 35 located below the second sorting tray 32 . That is to say, when the rotator 34 pivots the second sorting disc 32 upon receiving the second signal, the area where the bottom of the carrier 1 is projected by the second sorting disc 32 is smaller than that of the carrier 1 . The unit 35 orthographically projects the area of the bottom of the carrier 1 .

Preferably, the rotator 34 drives the first sorting tray 31 and the second sorting tray 32 to pivot at an angle that does not change by more than 45 degrees, so as to avoid the medical waste that has been sorted by multiple second sorting trays. A geometric groove G31 and a plurality of second geometric grooves G32 fall out.

It should be noted that the rotator 34 drives the first sorting disc 31 to pivot in a first direction D1 when receiving the first signal (as shown in FIG. 8 ), and the rotator 34 receives the first signal. When the second signal is given, the second sorting disc 32 is driven to pivot toward a second direction D2 (as shown in FIG. 9 ), and the first direction and the second direction D2 are opposite to each other, thereby prolonging the medical waste. The moving path of the object to increase the number of times to be screened. For example, the first direction D1 may be clockwise, and the second direction D2 may be counterclockwise.

In addition, in order to prevent the medical waste from adhering to the first sorting tray 31 or On the surface of the second sorting disc 32, the rotator 34 drives the first sorting disc 31 and the second sorting disc 32 to pivot, and the vibration unit 33 can also drive the first sorting disc 31 and the second sorting disc 32 to pivot. The sorting tray 31 and the second sorting tray 32 move back and forth, so that the medical wastes on the surface of the first sorting tray 31 or the second sorting tray 32 (excluding those located in multiple first sorting trays) The medical waste in the geometric groove G31 and the plurality of second geometric grooves G32 can be shaken and dropped.

Referring back to Fig. 11, the carrying unit 35 is disposed below the second sorting tray 32, and the carrying unit 35 can be used to receive 32 Classified medical waste, especially medical waste that is easily deformed such as cotton and bandages, even liquid. In practice, the carrying unit 35 can be a receiving tray with a liquid separation function (for example: solid and liquid separation vessels), and the size and position of the receiving tray can be correspondingly received by the second sorting tray 32. dumped medical waste.

In another embodiment, as shown in FIG. 10 and FIG. 11 , the medical waste treatment vehicle 100 further includes a load sensing module 4 and a packaging module electrically coupled to the load sensing module 4 . Group 5. The loading sensing module 4 is disposed on the loading unit 35 , and the loading sensing module 4 can sense the volume change (for example: full load) in the loading unit 35 to send a dumping signal. When the packaging module 5 receives the dumping signal, the packaging module 5 can be used to package the medical waste in the carrying unit 35 to avoid biological contamination.

In one embodiment, the bearing sensing module 4 may include a shaker 41 and an infrared transceiver 42, the shaker 41 is connected to the bearing unit 35 to drive the bearing unit 35 at the predetermined Angular reciprocating movement, so that the medical waste can be more evenly distributed in the carrying unit 35 . In addition, the infrared transceiver 42 is set at a predetermined position in the carrying unit 35 (for example: the upper inner side of the carrying unit 35), when the infrared transceiver 42 is blocked by the medical waste for a predetermined time (for example: 1 second), the infrared transceiver 42 sends the dumping signal to an application device (for example: mobile phone, or display screen), Thus, it is known that the carrying unit 35 is fully loaded.

Certainly, the bearing sensing module 4 may further include a weight sensor 43 , and the weight sensor 43 is disposed at the bottom of the bearing unit 35 . Moreover, when the weight sensor 43 senses that the weight change of the carrying unit 35 is greater than a predetermined weight, the weight sensor 43 sends the dumping signal to the application device, so as to know that the carrying unit 35 Unit 35 is fully loaded.

Wherein, the carrying unit 35 , the first sorting tray 31 , and the second sorting tray 32 can be taken out from the carrier 1 for subsequent operations such as replacement and dumping.

[Second embodiment]

Referring to FIG. 12 , the second embodiment is the medical waste classification method of the present invention, and the classification method provided by this embodiment is applicable to the medical waste treatment vehicle 100 of the first embodiment. Therefore, please cooperate with Figure 1 to Figure 11 in due course. Referring to Fig. 12, the classification method disclosed in this embodiment includes steps S101 to S113. It should be noted that, any one of the above-mentioned steps can be omitted or replaced with a reasonable change according to the requirements of the designer.

Step S101: sending an activation signal when the medical waste passes through the input port IN.

Step S103: after the oscillating unit 33 receives the activation signal, the oscillating unit 33 waits for a first delay number of seconds (for example: one second) and then drives the first sorting tray 31 to reciprocate horizontally.

Step S105 : sending out the first signal when the oscillating unit 33 completes the reciprocating movement of the first sorting tray 31 .

Step S107: the rotator 34 pivots the first sorting disc 31 to the predetermined angle when receiving the first signal, and sends out a layer change signal.

Step S109: After the oscillating unit 33 receives the layer-changing signal, the oscillating unit 33 waits for a second delay in seconds (for example: one second) and then drives the second sorting disc 32 horizontally reciprocating movement.

Step S111 : sending out the second signal when the oscillating unit 33 completes the reciprocating movement of the second sorting tray 32 .

Step S113: the rotator 34 pivots the second sorting disc 32 to the predetermined angle when receiving the second signal.

[Technical effects of the embodiments of the present invention]

To sum up, the medical waste disposal vehicle and its classification method disclosed in the embodiments of the present invention can have the following functions: The design of a plurality of the first geometric slots and a plurality of the second geometric slots" and "the rotator can respectively drive the first sorting disc and the second sorting disc to pivot" enables the medical waste treatment The vehicle can accurately screen medical waste (using multiple first geometric slots and multiple second geometric slots) while reducing structural complexity, thereby achieving the technical effect of reducing volume and manufacturing cost.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

100:Medical waste disposal vehicle

1: carrier

A1: guide plate

2: Mobile Module

23: Environmental scanning unit

31: The first sorting plate

IN: input port

Claims (9)

A medical waste disposal vehicle, comprising: a carrier having an input port for inputting medical waste; a mobile module installed on the carrier, the mobile module can drive the carrier to move; and A screening module, arranged in the carrier, the position of the screening module corresponds to the input port, and the screening module includes: A first sorting tray having a plurality of first geometric grooves; A second sorting tray, arranged below the first sorting tray, the second sorting tray has a plurality of second geometric slots, and the volume of the plurality of second geometric slots is smaller than that of the plurality of first geometric slots volume; An oscillating unit, connected to the first sorting disc and the second sorting disc, the oscillating unit can drive the first sorting disc and the second sorting disc to reciprocate rapidly at a predetermined angle; when the When the first sorting disc and the second sorting disc complete reciprocating movement, the oscillation unit can send a first signal and a second signal; and A rotator, electrically coupled to the oscillating unit, and connected to the first sorting disc and the second sorting disc; when the rotator receives the first signal, the rotator can maintain the The second sorting disc is at the predetermined angle and drives the first sorting disc to pivot; when the rotator receives the second signal, the rotator can drive the first sorting disc to reset to the predetermined angle, and drive the second sorting disc to pivot. The medical waste disposal vehicle according to claim 1, wherein the rotator drives the first sorting disc to pivot in a first direction when receiving the first signal, and the rotator drives the first sorting disc to pivot in a first direction when receiving the first signal. The second signal drives the second sorting disc to pivot toward a second direction, and the first direction and the second direction are opposite to each other. The medical waste treatment vehicle according to claim 1, wherein, the screening module further includes a carrying unit, and the carrying unit is arranged under the second sorting tray; when the rotator receives the When the first signal is used to pivot the first sorting disc, the area where the first sorting disc is projecting the bottom of the carrier is smaller than the area where the second sorting disc is projecting the bottom of the carrier; when the rotation When the device receives the second signal to pivot the second sorting disc, the area where the second sorting disc is projecting the bottom of the carrier is smaller than the area where the carrying unit is projecting the bottom of the carrier. The medical waste treatment vehicle according to claim 3, wherein the medical waste treatment vehicle further includes a carrying sensing module and a packaging module electrically coupled to the carrying sensing module, the The loading sensing module is arranged on the loading unit, and the loading sensing module can sense the volume change in the loading unit to send a dumping signal; when the packaging module receives the dumping signal , the packaging module can be used to package the medical waste in the carrying unit. The medical waste disposal vehicle according to claim 4, wherein the bearing sensing module includes a shaker and an infrared transceiver, and the shaker is connected to the bearing unit to drive the bearing unit on the moving back and forth at a predetermined angle, the infrared transceiver is set at a predetermined position in the carrying unit, and when the infrared transceiver is blocked by the medical waste for a predetermined time, the infrared transceiver sends out the dumping signal . The medical waste treatment vehicle according to claim 4, wherein the load sensing module includes a weight sensor, the weight sensor is arranged at the bottom of the load-carrying unit, and when the weight sensor When the sensor detects that the weight change of the carrying unit is greater than a predetermined weight, the weight sensor sends out the dumping signal. The medical waste disposal vehicle according to claim 1, wherein the predetermined angle is parallel to the horizontal plane; the angle at which the rotator drives the first sorting tray and the second sorting tray to pivot does not exceed 45 degrees. The medical waste disposal vehicle according to claim 1, wherein, when the rotator drives the first sorting tray and the second sorting tray to pivot, the oscillation unit can drive the first The sorting disc and the second sorting disc move back and forth. A medical waste classification method, which is applied to the medical waste treatment vehicle as claimed in claim 1, and the classification method includes the following steps: Sending an activation signal when medical waste passes through the inlet; After the oscillating unit receives the activation signal, the oscillating unit waits for a first delay in seconds and drives the first sorting disc to reciprocate horizontally; sending out the first signal when the oscillating unit completes the reciprocating movement of the first sorting disc; The rotator pivots the first sorting disc to the predetermined angle when receiving the first signal, and sends out a layer change signal; After the oscillating unit receives the layer-changing signal, the oscillating unit waits for a second delay and then drives the second sorting disc to reciprocate horizontally; sending the second signal when the oscillating unit completes the reciprocating movement of the second sorting disc; and The rotator pivots the second sorting disc to the predetermined angle when receiving the second signal.

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